CN211000799U - Frog-wheel-paddle-leg-imitating integrated amphibious propeller - Google Patents
Frog-wheel-paddle-leg-imitating integrated amphibious propeller Download PDFInfo
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- CN211000799U CN211000799U CN201921750663.XU CN201921750663U CN211000799U CN 211000799 U CN211000799 U CN 211000799U CN 201921750663 U CN201921750663 U CN 201921750663U CN 211000799 U CN211000799 U CN 211000799U
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Abstract
The utility model provides an imitative frog wheel oar leg integration amphibious propeller, includes propeller wheel (1), imitative frog leg mechanism (3), propeller shaft (2), through the propulsion equipment form with propeller wheel and imitative frog leg mechanism combine, can advance in water route and land road respectively, can realize superior amphibious and land and land off-road performance, solved and need adopt two sets of pusher in order to adapt to land and aquatic environment respectively among the prior art, the very complicated problem of propulsion mechanism structure, stable in structure, the operation process is stable.
Description
Technical Field
The utility model relates to an imitative frog wheel oar leg integration amphibious propeller belongs to integration drive arrangement field.
Background
Most of the existing amphibious driving equipment adopts two sets of pushing devices to adapt to land and water environments respectively, and a water jet propulsion mode is generally adopted when the amphibious driving equipment sails on the water surface. In the process from sea to land, the two sets of propulsion modes need to be switched, so that the structures of the propulsion mechanisms are very complicated, and the operation and the maintenance are inconvenient. The hovercraft is another advantage of amphibious battle, and although the process of landing by sea can be realized by adopting a single set of propulsion system, the propulsion of the air paddle is obviously insufficient when the hovercraft is used on land.
According to the difference of driving mechanisms and motion forms of amphibious robots, the existing amphibious robots can be roughly divided into single driving types and composite driving types, however, the amphibious robots with the single driving modes, such as multi-foot types, wave types, wheel types and crawler types, are difficult to completely meet a plurality of requirements of the robots in water or on land, and meanwhile, two sets of equipment are required to be adopted in two sets of propulsion modes, and the propulsion mechanisms are too complex.
SUMMERY OF THE UTILITY MODEL
The utility model provides a technical problem be: aiming at the problems that in the prior art, two sets of pushing devices are mostly adopted by amphibious driving equipment to respectively adapt to land and water environments, the structure of a pushing mechanism is very complex, and operation and maintenance are inconvenient, the integrated amphibious propeller imitating the frog wheel paddle leg is provided.
The utility model provides an above-mentioned technical problem realize through following technical scheme:
the utility model provides an imitative frog wheel oar leg integration amphibious propeller, includes propeller wheel, imitative frog leg mechanism, propeller shaft, the propeller wheel links to each other with external actuating mechanism through setting up the propeller shaft at propeller wheel center, and the propeller shaft drives propeller wheel rotation simultaneously under external actuating mechanism drives, and propeller wheel lateral surface is close to edge evenly distributed and is provided with imitative frog leg mechanism, imitative frog leg mechanism expandes supplementary propeller wheel in aqueous and advances, folds when land environment simultaneously and draws in propeller wheel lateral surface.
Imitative frog leg mechanism includes fin component, heel component, thigh component, shank component, root joint, the root connects evenly distributed and sets up in propeller wheel lateral surface near the edge, and thigh component one end is passed through the root and is connected on the propeller wheel, and the thigh component other end links to each other with shank component one end, and the shank component other end links to each other with the heel component, and the heel component links to each other with the tie point of fin component.
The joint of the root joint and the thigh member, the joint of the thigh member and the shank member, and the joint of the shank member and the heel member can rotate at any angle in a plane vertical to the wheels of the propeller.
The flipper member can rotate at any angle in a plane perpendicular to the wheels of the propeller, and can rotate around the axis of the heel member.
The imitative frog leg mechanism includes aquatic propulsion mode and land motion mode, wherein:
an underwater propulsion mode: adjusting the stretching state of the leg imitating mechanism according to the change of the motion angle of the leg imitating mechanism, and assisting an external driving mechanism to carry out underwater propulsion;
land movement mode: the frog leg imitating mechanism is completely folded into the edge of the outer side surface of the wheel of the propeller, and the external driving mechanism is driven to advance by the wheel of the propeller.
The underwater propulsion mode specifically comprises the following steps:
taking the direction opposite to the advancing direction of the wheel of the propeller as a 0-degree position, taking the clockwise direction as a positive direction, judging the angle of the real-time rotating position of the root joint, if the angle range of the current rotating position is between (0 degrees and 90 degrees), keeping the frog leg simulating mechanism in a furled state, enabling the thigh member to cling to the outer side surface of the wheel of the propeller, enabling the angle between the thigh member and the shank member to be 0 degrees, enabling the angle between the shank member and the heel member to be 180 degrees, and enabling the planes of the heel member and the foot web member to be in the;
if the angle range of the current rotating position is between 90 degrees and 135 degrees, the leg-imitating mechanism is changed from a folded state, and the flipper component rotates 90 degrees around the self axis and overturns towards the direction of the wheels of the propeller;
if the angle range of the current rotating position is between 135 degrees and 180 degrees, the flipper component keeps the state unchanged, and the heel component, the thigh component and the shank component are linearly unfolded to the maximum length;
if the angle range of the current rotating position is between 180 degrees and 270 degrees, the frog leg simulating mechanism returns to the folded state, and the plane of the flipper component is parallel to the outer side surface of the wheel of the propeller;
if the angle range of the current rotating position is between 270 degrees and 360 degrees, the plane of the flipper component rotates to be in the same plane with the motion plane of the thigh component and the motion plane of the shank component.
The expansion and the furling of the frog leg imitating mechanism are controlled by an external driving mechanism.
The number of the imitated frog leg mechanisms is not less than 3.
The fin members are trapezoidal in shape.
The installation angle intervals of the adjacent frog leg imitating mechanisms are equally divided according to the specific number of the frog leg imitating mechanisms, and the radial installation positions of the frog leg imitating mechanisms on the outer side surface of the wheel of the propeller are the same.
Compared with the prior art, the utility model the advantage lie in:
the utility model provides a pair of imitative frog wheel oar leg integration amphibious propeller, through the propulsion unit form with propeller wheel and imitative frog leg mechanism combination, adopt same set of advancing device, can advance in water route and land respectively, can realize superior amphibious landing cross-country performance, only produce forward driving force when utilizing imitative frog leg mechanism to be located the aquatic, and in its recovery process arranged the air above the surface of water in, reduce the resistance that propeller and amphibious robot gos forward greatly, effectively improve propulsion efficiency, the simultaneous movement process is steady, can realize the aquatic under the true environment-the amphibious motion form under the two kinds of environment of land.
Drawings
FIG. 1 is a schematic structural view of an amphibious propeller provided by the utility model;
FIG. 2 is a schematic structural view of the frog leg imitating mechanism provided by the utility model;
FIG. 3 is a 0-degree position state of the frog leg imitating mechanism provided by the utility model;
FIG. 4 is a 45-degree position state of the frog leg imitating mechanism provided by the utility model;
FIG. 5 is a 90-degree position state of the frog leg imitating mechanism provided by the utility model;
fig. 6 shows the 135-degree position state of the frog leg imitating mechanism provided by the utility model;
FIG. 7 is a 180-degree position state of the frog leg imitating mechanism provided by the utility model;
fig. 8 is a 225-degree position state of the frog leg imitating mechanism provided by the utility model;
fig. 9 is a 270-degree position state of the frog leg imitating mechanism provided by the utility model;
fig. 10 shows the 315 ° position of the frog leg imitating mechanism provided by the utility model;
fig. 11 is a first schematic view of the overall state change of the frog leg imitating mechanism provided by the utility model;
fig. 12 is a schematic view showing the overall state change of the frog leg imitating mechanism provided by the utility model ii;
Detailed Description
The utility model provides an imitative frog wheel oar leg integration amphibious propeller, it is main including propeller wheel 1, imitative frog leg mechanism 3, propeller shaft 2 links to each other with outside actuating mechanism, it is rotatory to drive by outside actuating mechanism, propeller shaft 2 drives propeller wheel 1 simultaneously and gos forward, imitative frog leg mechanism 3 that supplementary propeller wheel 1 gos forward sets up in 1 lateral surface of propeller wheel and is close to the edge, and according to imitative frog leg mechanism 3 concrete quantity evenly distributed, quantity is not less than 3, all imitative frog leg mechanism 3 are the same in the radial mounted position on 1 lateral surface of propeller wheel.
Imitative frog leg mechanism 3 expands in aqueous supplementary propeller wheel 1 and advances, fold when land environment simultaneously and draw in propeller wheel 1 lateral surface in, specifically include flipper component 301, heel component 302, thigh component 303, shank component 304, the root connects 305, root connects 305 evenly distributed and sets up in propeller wheel 1 lateral surface and is close to the edge, thigh component 303 one end is passed through the root and is connected on propeller wheel 1, the thigh component 303 other end links to each other with shank component 304 one end, the shank component 304 other end links to each other with heel component 302, heel component 302 links to each other with flipper component 301's tie point.
In the frog leg imitating mechanism 3, the root joint 305, the joint of the thigh member 303 and the shank member 304, and the joint of the shank member 304 and the heel member 302 can rotate at any angle in the plane of the vertical propeller wheel 1, meanwhile, the flipper member 301 can rotate at any angle in the plane of the vertical propeller wheel 1, and can rotate around the axis of the heel member 302, and the frog leg imitating mechanism 3 needs to realize the change of the unfolding and folding states by adjusting the relative angles of other parts except the flipper member 301 and the three-dimensional rotating position of the flipper member 301 in the trapezoidal shape.
Corresponding imitative frog leg mechanism 3's state, imitative frog leg mechanism 3 has following two kinds of mode, and mode's switching is all controlled through outside actuating mechanism, including aquatic propulsion mode and land motion mode, wherein:
an underwater propulsion mode: adjusting the stretching state of the leg imitating mechanism 3 according to the change of the motion angle of the leg imitating mechanism 3, and assisting an external driving mechanism to carry out underwater propulsion;
the underwater propulsion mode is specifically as follows:
taking the direction opposite to the advancing direction of the propeller wheel 1 as a 0-degree position, taking the clockwise direction as a positive direction, judging the angle of the real-time rotating position of the root joint 305, if the angle range of the current rotating position is between (0 degrees and 90 degrees), the imitated frog leg mechanism 3 is in a folding state, the thigh member 303 is clung to the outer side surface of the propeller wheel 1, the angle between the thigh member 303 and the shank member 304 is 0 degree, the angle between the shank member 304 and the heel member 302 is 180 degrees, and the heel member 302 and the plane of the flipper member 301 are positioned in the same plane;
if the angle range of the current rotating position is between 90 degrees and 135 degrees, the leg-imitating mechanism 3 is changed from a folded state, and the flipper component 301 rotates 90 degrees around the axis of the flipper component and overturns towards the direction of the wheel 1 of the propeller;
if the angle range of the current rotating position is between 135 degrees and 180 degrees, the flipper component 301 keeps the state unchanged, and the heel component 302, the thigh component 303 and the shank component 304 are linearly unfolded to the maximum length;
if the angle range of the current rotating position is between 180 degrees and 270 degrees, the leg-imitating mechanism 3 returns to the folded state, and the plane of the flipper component 301 is parallel to the outer side surface of the wheel 1 of the propeller;
if the angle range of the current rotating position is between 270 degrees and 360 degrees, the plane of the flipper component 301 rotates to be in the same plane with the moving plane of the thigh component 303 and the calf component 304;
land movement mode: the frog leg imitating mechanism 3 is completely folded into the edge of the outer side surface of the propeller wheel 1, and the propeller wheel 1 drives the external driving mechanism to advance.
The following is further illustrated by specific examples and specific work flows:
in the embodiment, as shown in fig. 3, the direction opposite to the advancing direction of the feeder wheel 1 is taken as a 0 ° position, the clockwise direction is taken as a positive direction, the angle of the real-time rotation position of the root joint 305 is judged, at this time, the frog-leg simulating mechanism 3 is at the position of 0 ° at the wheel, at this time, the plane of the flipper member 301 is parallel to the horizontal plane, the thigh member 303, the shank member 304, the heel member 302 and the flipper member 301 are in the same plane, the whole mechanism is in a contraction state, and the flipper member 301 is close to the outer edge of the wheel; in the process of changing the wheel from 0 degrees to 90 degrees, as shown in fig. 4 and 5, the posture of the frog-leg imitating mechanism 3 is basically kept unchanged.
As shown in fig. 6, when the imitated frog leg mechanism 3 strokes through 90 °, its function as a paddle is basically finished, and the plane of the flipper member 301 rotates 90 ° around its own axis and then rotates towards the inner wheel until it is perpendicular to the plane formed by the thigh member 303, the shank member 304 and the heel member 302;
as shown in fig. 7, during the process of rotating from about 135 degrees to 180 degrees, the thigh member 303, the shank member 304 and the heel member 302 of the imitated frog-leg mechanism 3 are rapidly spread until the whole mechanism is in the longest state, and the plane of the flipper member 301 keeps the motion plane of the thigh member 303, the shank member 304 and the heel member 302 vertical all the time, so as to ensure that enough thrust is generated during the process of simulating the walking of a frog kicking the leg;
as shown in fig. 8 and 9, after the imitated frog leg mechanism 3 is stroked for 180 degrees to discharge water, the imitated frog leg mechanism 3 is gradually recovered, the relative positions of the thigh member 303, the shank member 304 and the heel member 302 are restored to the 0 degree position state, but the plane of the flipper member 301 should be kept parallel to the plane of the wheel, which is mainly used for reducing the air resistance in the advancing process;
as shown in fig. 10, when the breastleg mechanism 3 is completely retracted and the rotation angle is changed from 270 degrees to 360 degrees (0 degrees), before the mechanism enters water again, the plane of the flipper member 301 rotates around the self axis to be parallel to the motion plane of the thigh member 303, the shank member 304 and the heel member 302, and the paddle paddling function is performed again along with the rotation of the wheels.
The motion flow of the frog leg imitating mechanism 3 is mainly as shown in fig. 11 and 12, and is a motion process after a plurality of groups of frog leg imitating mechanisms 3 are combined with wheels, so that the whole propelling process of the bionic propeller is realized.
The details of the present invention not described in detail in the specification are well known to those skilled in the art.
Claims (10)
1. The utility model provides an imitative frog wheel paddle leg integration amphibious propeller which characterized in that: including propeller wheel (1), imitative frog leg mechanism (3), propeller shaft (2), propeller wheel (1) links to each other with outside actuating mechanism through setting up propeller shaft (2) at propeller wheel (1) center, and propeller shaft (2) drive propeller wheel (1) rotation simultaneously under outside actuating mechanism drives, and propeller wheel (1) lateral surface is close to edge evenly distributed and is provided with imitative frog leg mechanism (3), imitative frog leg mechanism (3) expand supplementary propeller wheel (1) in aqueous and advance, fold when land environment simultaneously and draw in propeller wheel (1) lateral surface in.
2. The frog-like wheel paddle leg integrated amphibious propeller as claimed in claim 1, wherein: imitative frog leg mechanism (3) include flipper component (301), heel component (302), thigh component (303), shank component (304), root joint (305) evenly distributed sets up and is close to the edge in propeller wheel (1) lateral surface, and thigh component (303) one end is connected on propeller wheel (1) through root joint (305), and thigh component (303) other end links to each other with shank component (304) one end, and shank component (304) other end links to each other with heel component (302), and heel component (302) links to each other with the tie point of flipper component (301).
3. The frog-like wheel paddle leg integrated amphibious propeller as claimed in claim 2, wherein: the joint of the root part (305) and the thigh member (303), the joint of the thigh member (303) and the shank member (304), and the joint of the shank member (304) and the heel member (302) can rotate at any angle in the plane vertical to the propeller wheel (1).
4. The frog-like wheel paddle leg integrated amphibious propeller as claimed in claim 2, wherein: the flipper component (301) can rotate at any angle in the plane vertical to the propeller wheel (1) and can rotate around the axis of the heel component (302).
5. The frog-like wheel paddle leg integrated amphibious propeller as claimed in claim 1, wherein: the frog leg imitating mechanism (3) comprises an underwater propulsion mode and a land movement mode, wherein:
an underwater propulsion mode: the stretching state of the leg imitating mechanism (3) is adjusted according to the change of the motion angle of the leg imitating mechanism (3), and an external driving mechanism is assisted to carry out underwater propulsion;
land movement mode: the frog leg imitating mechanism (3) is completely folded into the edge of the outer side surface of the propeller wheel (1), and the propeller wheel (1) drives the external driving mechanism to advance.
6. The frog-like wheel paddle leg integrated amphibious propeller as claimed in claim 5, wherein: the underwater propulsion mode specifically comprises the following steps:
the opposite direction of the advancing direction of the propeller wheel (1) is taken as a 0-degree position, the clockwise direction is the positive direction, the angle of the real-time rotating position of the root joint (305) is judged, if the angle range of the current rotating position is between 0 degrees and 90 degrees, the frog leg simulating mechanism (3) is in a folding state, the thigh member (303) is clung to the outer side surface of the propeller wheel (1), the angle between the thigh member (303) and the shank member (304) is 0 degree, the angle between the shank member (304) and the heel member (302) is 180 degrees, and the planes of the heel member (302) and the foot web member (301) are positioned in the same plane;
if the angle range of the current rotating position is between 90 degrees and 135 degrees, the leg-imitating mechanism (3) is changed from a folded state, and the flipper component (301) rotates 90 degrees around the self axis and overturns towards the direction of the wheels (1) of the propeller;
if the angle range of the current rotating position is between 135 degrees and 180 degrees, the flipper component (301) keeps the state unchanged, and the heel component (302), the thigh component (303) and the shank component (304) are linearly unfolded to the maximum length;
if the angle range of the current rotating position is between 180 degrees and 270 degrees, the leg-imitating mechanism (3) returns to a folded state, and the plane of the flipper component (301) is parallel to the outer side surface of the propeller wheel (1);
if the angle range of the current rotating position is between 270 degrees and 360 degrees, the plane of the flipper component (301) rotates to be in the same plane with the motion plane of the thigh component (303) and the calf component (304).
7. The frog-like wheel paddle leg integrated amphibious propeller as claimed in claim 1, wherein: the frog leg imitating mechanism (3) is controlled to unfold and fold through an external driving mechanism.
8. The frog-like wheel paddle leg integrated amphibious propeller as claimed in claim 1, wherein: the number of the frog leg imitating mechanisms (3) is not less than 3.
9. The frog-like wheel paddle leg integrated amphibious propeller as claimed in claim 2, wherein: the fin members (301) are trapezoidal in shape.
10. The frog-like wheel paddle leg integrated amphibious propeller as claimed in claim 1, wherein: the installation angle intervals of the adjacent frog leg imitating mechanisms (3) are evenly distributed according to the specific number of the frog leg imitating mechanisms (3), and the radial installation positions of the frog leg imitating mechanisms (3) on the outer side surface of the propeller wheel (1) are the same.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921750663.XU CN211000799U (en) | 2019-10-17 | 2019-10-17 | Frog-wheel-paddle-leg-imitating integrated amphibious propeller |
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| CN201921750663.XU CN211000799U (en) | 2019-10-17 | 2019-10-17 | Frog-wheel-paddle-leg-imitating integrated amphibious propeller |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113071274A (en) * | 2021-04-23 | 2021-07-06 | 南京理工大学 | Frog-imitating amphibious robot based on hybrid mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113071274A (en) * | 2021-04-23 | 2021-07-06 | 南京理工大学 | Frog-imitating amphibious robot based on hybrid mechanism |
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